From c484cbb09d445e2ab30ea011c6d2ffd87202bb26 Mon Sep 17 00:00:00 2001
From: yy1717 <fctom1215@outlook.com>
Date: 星期五, 23 十月 2020 18:05:34 +0800
Subject: [PATCH] 添加可用户配置的评判参数。
---
lib/src/main/cpp/driver_test.cpp | 153 ++++++++++++++++++++++++++++++++++++++++++++++++++
1 files changed, 152 insertions(+), 1 deletions(-)
diff --git a/lib/src/main/cpp/driver_test.cpp b/lib/src/main/cpp/driver_test.cpp
index fa24fec..2e08710 100644
--- a/lib/src/main/cpp/driver_test.cpp
+++ b/lib/src/main/cpp/driver_test.cpp
@@ -58,6 +58,66 @@
TEST_TYPE_ROAD_CALIBRATE
};
+static const int DEFAULT_START_KEY_HOLD_TIME = D_SEC(2);
+static const int DEFAULT_CURVE_PAUSE_TIME = D_SEC(2);
+static const int DEFAULT_PARK_BOTTOM_PAUSE_TIME = D_SEC(2);
+static const int DEFAULT_PARK_BOTTOM_FINISH_TIME = D_SEC(210);
+static const int DEFAULT_PART_EDGE_PAUSE_TIME = D_SEC(2);
+static const int DEFAULT_PARK_EDGE_FINISH_TIME = D_SEC(90);
+static const int DEFAULT_TURN_A90_PAUSE_TIME = D_SEC(2);
+static const int DEFAULT_RAMP_FINISH_TIME = D_SEC(30);
+static const double DEFAULT_RAMP_STOPPOINT_RED_DISTANCE = 0.5;
+static const double DEFAULT_RAMP_EDGE_YELLOW_DISTANCE = 0.3;
+static const double DEFAULT_RAMP_EDGE_RED_DISTANCE = 0.5;
+static const double DEFAULT_RAMP_SLIDE_YELLOW_DISTANCE = 0.1;
+static const double DEFAULT_RAMP_SLIDE_RED_DISTANCE = 0.3;
+
+static const double DEFAULT_ROAD_SLIDE_YELLOW_DISTANCE = 0.1;
+static const double DEFAULT_ROAD_SLIDE_RED_DISTANCE = 0.3;
+static const int DEFAULT_ROAD_MAX_DISTANCE = 3000;
+static const int DEFAULT_ROAD_MAX_SPEED = 60;
+static const int DEFAULT_GEAR_N_TIME = D_SEC(5);
+static const int DEFAULT_SAME_GEAR_HOLD_TIME = D_SEC(5);
+static const int DEFAULT_GEAR_SPEED_ERROR_MAX_TIME = D_SEC(15);
+static const int DEFAULT_ROAD_PAUSE_TIME = D_SEC(2);
+static const int DEFAULT_CHANGE_LANE_MIN_TIME = D_SEC(10);
+static const int DEFAULT_CRASH_DOTTED_LINE_MAX_TIME = D_SEC(10);
+static const int DEFAULT_TURN_SIGNAL_MIN_ADVANCE = D_SEC(3);
+static const int DEFAULT_START_CAR_MAX_RMP = 2500;
+static const int DEFAULT_START_CAR_DISTANCE = 10;
+static const double DEFAULT_START_CAR_OPEN_DOOR_DISTANCE = 1.0;
+static const char DEFAULT_START_CAR_BEGIN_TTS[] = "璇疯捣姝ワ紝缁х画瀹屾垚鑰冭瘯";
+static const char DEFAULT_START_CAR_END_TTS[] = "璧锋瀹屾垚";
+static const int CHANGE_LANE_MAX_DISTANCE = 100;
+static const char DEFAULT_CHANGE_LANE_BEGIN_TTS[] = "鍓嶆柟璇峰彉鏇磋溅閬�";
+static const char DEFAULT_CHANGE_LANE_END_TTS[] = "鍙橀亾瀹屾垚";
+static const int DEFAULT_SHIFT_MAX_DISTANCE = 120;
+static const int DEFAULT_SHIFT_HOLD_TIME = D_SEC(3);
+static const char DEFAULT_SHIFT_BEGIN_TTS[] = "璇疯繘琛屽姞鍑忔尅浣嶆搷浣�";
+static const char DEFAULT_SHIFT_END_TTS[] = "鍔犲噺鎸′綅瀹屾垚";
+static const char DEFAULT_STRAIGHT_BEGIN_TTS[] = "璇蜂繚鎸佺洿绾胯椹�";
+static const char DEFAULT_STRAIGHT_END_TTS[] = "鐩寸嚎琛岄┒瀹屾垚";
+static const int DEFAULT_STRAIGHT_MAX_DISTANCE = 100;
+static const double DEFAULT_STRAIGHT_MAX_OFFSET = 0.3;
+static const int DEFAULT_OVERTAKE_MAX_DISTANCE = 150;
+static const char DEFAULT_OVERTAKE_BEGIN_TTS[] = "璇疯秴瓒婂墠鏂硅溅杈�";
+static const char DEFAULT_OVERTAKE_END_TTS[] = "瓒呰溅瀹屾垚";
+static const int DEFAULT_STOP_CAR_MAX_DISTANCE = 150;
+static const int DEFAULT_STOP_CAR_OPEN_DOOR_MAX_TIME = D_SEC(15);
+static const double DEFAULT_STOP_CAR_EDGE_RED_DISTANCE = 0.5;
+static const double DEFAULT_STOP_CAR_EDGE_YELLOW_DISTANCE = 0.5;
+static const char DEFAULT_STOP_CAR_BEGIN_TTS[] = "璇烽潬杈瑰仠杞�";
+static const char DEFAULT_STOP_CAR_END_TTS[] = "闈犺竟鍋滆溅瀹屾垚";
+static const double DEFAULT_CROSSING_STOP_VALID_DISTANCE = 3.0;
+static const int DEFAULT_CROSS_SCHOOL_MAX_SPEED = 30;
+static const int DEFAULT_CROSS_BREAK_VALID_DISTANCE = 30;
+
+static const char DEFAULT_CROSSING_GO_STRAIGHT_TTS[] = "鍓嶆柟璺彛鐩磋";
+static const char DEFAULT_CROSSING_TURN_LEFT_TTS[] = "鍓嶆柟璺彛宸﹁浆";
+static const char DEFAULT_CROSSING_TURN_RIGHT_TTS[] = "鍓嶆柟璺彛鍙宠浆";
+static const char DEFAULT_CROSSING_TURN_BACK_TTS[] = "鍓嶆柟閫夋嫨鍚堥�傚湴鐐规帀澶�";
+static const char DEFAULT_CROSSING_TURN_UNKNOWN_TTS[] = "鍓嶆柟璺彛鍚粠鏁欑粌鎸囩ず";
+
static bool ExamStart = false;
static int ExamType;
static bool reportSeatbeltEject;
@@ -82,6 +142,8 @@
static bool engineStart = false;
static bool engineStartTimeout = false;
+exam_param_t examParam;
+
#define MOV_AVG_SIZE 1
#define RTK_BUFFER_SIZE 100
#define CAR_MODEL_CACHE_SIZE 10
@@ -89,6 +151,7 @@
static rtk_info *RtkBuffer = NULL;
static int RtkBufferNum = 0, RtkBufferIn = 0;
+static void SetExamParamDefault(void);
static void EngineStartHold(union sigval sig);
static void ExecuteExam(const struct RtkTime* rtkTime);
static void ExecuteExam(double speed, int move, double azimuth, const struct RtkTime* rtkTime);
@@ -102,6 +165,7 @@
void DriverTestInit(void)
{
ExamStart = false;
+ SetExamParamDefault();
CarModel = NULL;
CarModelList.clear();
@@ -120,6 +184,93 @@
RtkBuffer = (rtk_info *) malloc(RTK_BUFFER_SIZE * sizeof(rtk_info));
RtkBufferNum = RtkBufferIn = 0;
+}
+
+static void SetExamParamDefault(void)
+{
+ examParam.hold_start_key_limit_time = DEFAULT_START_KEY_HOLD_TIME;
+ examParam.curve_pause_criteria = DEFAULT_CURVE_PAUSE_TIME;
+ examParam.park_bottom_pause_criteria = DEFAULT_PARK_BOTTOM_PAUSE_TIME;
+ examParam.park_bottom_limit_time = DEFAULT_PARK_BOTTOM_FINISH_TIME;
+ examParam.park_edge_pause_criteria = DEFAULT_PART_EDGE_PAUSE_TIME;
+ examParam.park_edge_limit_time = DEFAULT_PARK_EDGE_FINISH_TIME;
+ examParam.turn_a90_pause_criteria = DEFAULT_TURN_A90_PAUSE_TIME;
+
+ examParam.ramp_stoppoint_red_distance = DEFAULT_RAMP_STOPPOINT_RED_DISTANCE;
+ examParam.ramp_edge_yellow_distance = DEFAULT_RAMP_EDGE_YELLOW_DISTANCE;
+ examParam.ramp_edge_red_distance = DEFAULT_RAMP_EDGE_RED_DISTANCE;
+ examParam.ramp_slide_yellow_distance = DEFAULT_RAMP_SLIDE_YELLOW_DISTANCE;
+ examParam.ramp_slide_red_distance = DEFAULT_RAMP_SLIDE_RED_DISTANCE;
+ examParam.ramp_start_car_limit_time = DEFAULT_RAMP_FINISH_TIME;
+
+ examParam.road_slide_yellow_distance = DEFAULT_ROAD_SLIDE_YELLOW_DISTANCE;
+ examParam.road_slide_red_distance = DEFAULT_ROAD_SLIDE_RED_DISTANCE;
+ examParam.road_total_distance = DEFAULT_ROAD_MAX_DISTANCE;
+ examParam.road_max_speed = DEFAULT_ROAD_MAX_SPEED;
+
+ examParam.gear_speed_table.resize(6);
+ for (int i = 0; i < examParam.gear_speed_table.size(); ++i) {
+ examParam.gear_speed_table[i].resize(2);
+ }
+ examParam.gear_speed_table[0][0] = 0;
+ examParam.gear_speed_table[0][1] = 20;
+ examParam.gear_speed_table[1][0] = 5;
+ examParam.gear_speed_table[1][1] = 30;
+ examParam.gear_speed_table[2][0] = 15;
+ examParam.gear_speed_table[2][1] = 40;
+ examParam.gear_speed_table[3][0] = 25;
+ examParam.gear_speed_table[3][1] = 10000;
+ examParam.gear_speed_table[4][0] = 35;
+ examParam.gear_speed_table[4][1] = 10000;
+ examParam.gear_speed_table[5][0] = 45;
+ examParam.gear_speed_table[5][1] = 10000;
+
+ examParam.gear_n_allow_time = DEFAULT_GEAR_N_TIME;
+ examParam.same_gear_min_time = DEFAULT_SAME_GEAR_HOLD_TIME; // x绉掑唴锛屼笉鍏佽N->X->N->X缃悓涓�鎸′綅
+ examParam.gear_speed_error_cumulative_time = DEFAULT_GEAR_SPEED_ERROR_MAX_TIME;
+ examParam.road_pause_criteria = DEFAULT_ROAD_PAUSE_TIME;
+ examParam.continuous_change_lane_min_time = DEFAULT_CHANGE_LANE_MIN_TIME;
+ examParam.crash_dotted_line_cumulative_time = DEFAULT_CRASH_DOTTED_LINE_MAX_TIME;
+ examParam.turn_signal_min_advance = DEFAULT_TURN_SIGNAL_MIN_ADVANCE;
+ examParam.start_car_max_rpm = DEFAULT_START_CAR_MAX_RMP;
+ examParam.start_car_limit_distance = DEFAULT_START_CAR_DISTANCE;
+ examParam.open_door_drive_allow_distance = DEFAULT_START_CAR_OPEN_DOOR_DISTANCE;
+ examParam.start_car_begin_tts = DEFAULT_START_CAR_BEGIN_TTS;
+ examParam.start_car_end_tts = DEFAULT_START_CAR_END_TTS;
+ examParam.change_lane_limit_distance = CHANGE_LANE_MAX_DISTANCE;
+ examParam.change_lane_begin_tts = DEFAULT_CHANGE_LANE_BEGIN_TTS;
+ examParam.change_lane_end_tts = DEFAULT_CHANGE_LANE_END_TTS;
+ examParam.shift_limit_distance = DEFAULT_SHIFT_MAX_DISTANCE;
+ examParam.shift_hold_time = DEFAULT_SHIFT_HOLD_TIME;
+ examParam.shift_begin_tts = DEFAULT_SHIFT_BEGIN_TTS;
+ examParam.shift_end_tts = DEFAULT_SHIFT_END_TTS;
+ examParam.shift_up_tts = "";
+ examParam.shift_down_tts = "";
+
+ examParam.straight_begin_tts = DEFAULT_STRAIGHT_BEGIN_TTS;
+ examParam.straight_end_tts = DEFAULT_STRAIGHT_END_TTS;
+ examParam.straight_limit_distance = DEFAULT_STRAIGHT_MAX_DISTANCE;
+ examParam.straight_max_offset = DEFAULT_STRAIGHT_MAX_OFFSET;
+
+ examParam.overtake_limit_distance = DEFAULT_OVERTAKE_MAX_DISTANCE;
+ examParam.overtake_begin_tts = DEFAULT_OVERTAKE_BEGIN_TTS;
+ examParam.overtake_end_tts = DEFAULT_OVERTAKE_END_TTS;
+
+ examParam.stop_car_limit_distance = DEFAULT_STOP_CAR_MAX_DISTANCE;
+ examParam.stop_car_open_door_allow_time = DEFAULT_STOP_CAR_OPEN_DOOR_MAX_TIME;
+ examParam.stop_car_edge_red_distance = DEFAULT_STOP_CAR_EDGE_RED_DISTANCE;
+ examParam.stop_car_edge_yellow_distance = DEFAULT_STOP_CAR_EDGE_YELLOW_DISTANCE;
+ examParam.stop_car_begin_tts = DEFAULT_STOP_CAR_BEGIN_TTS;
+ examParam.stop_car_end_tts = DEFAULT_STOP_CAR_END_TTS;
+ examParam.crossing_stop_valid_distance = DEFAULT_CROSSING_STOP_VALID_DISTANCE;
+ examParam.cross_school_max_speed = DEFAULT_CROSS_SCHOOL_MAX_SPEED;
+ examParam.crossing_break_valid_distance = DEFAULT_CROSS_BREAK_VALID_DISTANCE;
+
+ examParam.crossing_go_straight_tts = DEFAULT_CROSSING_GO_STRAIGHT_TTS;
+ examParam.crossing_turn_left_tts = DEFAULT_CROSSING_TURN_LEFT_TTS;
+ examParam.crossing_turn_right_tts = DEFAULT_CROSSING_TURN_RIGHT_TTS;
+ examParam.crossing_turn_back_tts = DEFAULT_CROSSING_TURN_BACK_TTS;
+ examParam.crossing_turn_unknown_tts = DEFAULT_CROSSING_TURN_UNKNOWN_TTS;
}
static void ReadDriverExamPrimerTimeout(union sigval sig)
@@ -660,7 +811,7 @@
AddExamFault(4, rtkTime);
}
AppTimer_delete(EngineStartHold);
- AppTimer_add(EngineStartHold, D_SEC(2));
+ AppTimer_add(EngineStartHold, examParam.hold_start_key_limit_time);
}
} else if (engineStart) {
engineStart = false;
--
Gitblit v1.8.0